Walmart is getting less hospitable in many locations and you certainly cannot 'camp' in any rest area I know of. If you mean 'stealth' overnight in a rest area, you can do that but unhooking and setting up shop...no way.

Yes but dont damage hot asphalt, use appropriate blocking.
Some rest areas allow over night stays.
If you pull in somewhat earlier you can get a spot at the edge of the lot where you can put your slide out over the lawn. Some park along the edges of the lot and put slides out toward the aisle side but stay back within the lines.

If you sit outside try to go on the side of your rig where you are away from the lot. Try to buy stuff in the store but you dont have to. If you are staying for a number of days move your rig around and change clothes so you dont look homeless.

rjxj wrote:Yes but dont damage hot asphalt, use appropriate blocking.
Some rest areas allow over night stays.
If you pull in somewhat earlier you can get a spot at the edge of the lot where you can put your slide out over the lawn. Some park along the edges of the lot and put slides out toward the aisle side but stay back within the lines.

If you sit outside try to go on the side of your rig where you are away from the lot. Try to buy stuff in the store but you dont have to. If you are staying for a number of days move your rig around and change clothes so you dont look homeless.

Overnighting in rest areas vary by the State, some have 3 - 6 hour limits, others have 12 -24 hour limits. There are a variety of stores that allow RV parking some are more friendly about it than others, Wal-Mart has a pro RV overnighting corporate policy, but leave the actual decision up the the individual store a mangers, some / many towns have parking laws that don't allow it, again here enforcement varies. There are also generally more peaceful alternatives like Cracker Barrel restaurants, most / all of which have RV parking spaces generally allow overnight parking, I have also heard Cabella's sporting goods encourages it and some even have RV dump stations, in fact they have a full service campground at their corporate headquarters in Sidney, Nebraska.

In addition to free camping there are a lot of low cost camping options out there, particularly in the central part of the US. These include forest service campgrounds, these generally don't have hookups, but may typically have pit toilets and limited fresh water on site, but the price is right at around $10 per night often with great scenery. Dispersed / boondock camping in some of these forest service parks is even cheaper, or free. Many small towns have RV sites in their public parks, at community centers, etc. often available at minimal charge $10-$20, some are even free for the first night or simply ask for a donation in order to keep them free. This is really not bad considering these sites often have water and at least some electricity (20 or 30 amp hookups) as well as often free dump stations on site. Then of course there are COE and State park campground,which vary by location, but are often cheaper than commercial RV parks, with prices for sites with at least electric and water hookups in the $20-$30 ballpark.